Mechanical intelligence for adaptive precision grasp
File(s)
Author(s)
Lu, Qiujie
Baron, Nicholas
Bai, Guochao
Rojas, Nicolas
Type
Conference Paper
Abstract
Mechanical intelligence is the use of mechanical and other physical properties to create robotic systems adaptable to new external situations using simple control schemes. Designs of robot hands have successfully been developed and optimised following this principle to produce self-adaptive and versatile power grasps via implementations based on underactuated fingers, elastic components, and open-loop motor control. However, these characteristics, and mechanical-intelligent strategies in general, have been seldom leveraged for precision grasping. This paper proposes a mechanical-intelligent technique to facilitate not only spiral caging power grasp, but also self-adaptive precision grasp with error tolerance. This approach is exemplified by the rigorous analysis, development, and testing of a novel three-fingered, two-actuator, underactuated robot hand, called the helical hand, which is capable of self-adaptive precision grasping, and of generating spiral helical power grasps of unknown objects by simply setting two actuators at a constant speed.
Date Issued
2021-10-18
Date Acceptance
2021-02-28
Citation
2021 IEEE International Conference on Robotics and Automation (ICRA), 2021, pp.4530-4536
Publisher
IEEE
Start Page
4530
End Page
4536
Journal / Book Title
2021 IEEE International Conference on Robotics and Automation (ICRA)
Copyright Statement
© 2021 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. See http://www.ieee.org/publications_standards/publications/rights/index.html for more information.
Sponsor
Engineering & Physical Science Research Council (EPSRC)
Grant Number
EP/R020833/1
Source
IEEE International Conference on Robotics and Automation (ICRA) 2021
Publication Status
Published
Start Date
2021-05-30
Finish Date
2021-06-05
Coverage Spatial
Xian, China